Automaton for treating a surface

ABSTRACT

The present invention provides an automaton ( 1 ) for treating a surface for treatment, the automaton comprising treatment means ( 10 ), e.g. an arm, having a movable end ( 12 ) configured to treat a surface, and an interface configured to indicate to the automaton the surface that is to be treated. The interface includes a screen ( 21 ) configured to display a representation of at least a portion of the surroundings in which the surface for treatment is to be found, and the interface is configured to enable a person to select the surface for treatment on the representation displayed on the screen ( 21 ).

BACKGROUND

The present disclosure relates to an automaton for treating a surface,e.g. for painting it. More particularly, the present disclosure relatesto an interface of controlling such automaton.

Robots already exist for treating a surface, e.g. for painting it orsanding it. Such robots are used in particular in the automobileindustry for painting vehicle bodywork. Such robots are independent andthey are programmed to perform a series of operations without oversightfrom an operator: they then replace one or more people by performing thetasks that have previously been programmed in the computer controllingthe robot.

Nevertheless, such robot painters, just like other robots used onassembly lines, are stationary on the ground and only the arm holdingthe tool moves: their range of action is thus geographically limited.Furthermore, in order to avoid accidents with any people who might be inthe proximity of robots, robots are generally surrounded by a safetyzone in which they are to work and that should not be entered byindividuals.

Robots also exist in the building industry. Such robots are used inparticular for working in locations that are difficult for individualsto access, and possibly even prohibited. This applies for example whenthe surface for treatment comprises a high ceiling or is situated in azone where there is a danger of radiation. An example of a robotsuitable for acting under such conditions is described in particular inapplication FR 2 902 038.

It can be seen that the robot is then directly controlled by an operatorin order to treat the surface, with the robot taking the place of theoperator and being under the operator's control. Thus, such robots arenot independent and they need to be controlled continuously by anoperator: the use of such a robot then serves to facilitate the tasks ofthe operator, but continues to require the operator to be present,whether beside the robot or remotely. The robot then does not replacethe operator who is to perform the operation, but acts rather as a toolthat remains under the control of the operator and that does not act onits own.

Thus, the robot does not enable work to be performed instead of andreplacing an individual, but requires constant supervision. Inparticular, the robot can treat a given surface only as a result ofinstructions given by the operator while said surface is being treatedso as to adapt the actions being carried out by the robot in real time.

SUMMARY

The present disclosure seeks to solve the various above-mentionedtechnical problems. In particular, the present disclosure seeks toprovide means for indicating to said automaton the work that it is toperform in autonomous manner. More particularly, the present disclosureseeks to provide an interface that makes it easier for an operator togive instructions.

Thus, in an aspect of the disclosure, there is provided an automaton fortreating a surface for treatment, the automaton comprising treatmentmeans, e.g. an arm, having a movable end configured to treat a surface,and an interface configured to indicate to the automaton the surfacethat is to be treated. In particular, the interface includes a screenconfigured to display a representation of at least a portion of thesurroundings in which the surface for treatment is to be found, and theinterface is configured to enable a person to select or draw the surfacefor treatment on the representation displayed on the screen.

By means of its interface, it becomes easy for the operator to indicateto the automaton which surfaces it is to treat in autonomous manner. Inparticular, the interface is configured so as to be intuitive and simpleto use. Not only does it facilitate inputting instructions, but it alsofacilitates verifying instructions before the automaton starts working.

Preferably, the automaton is for use in a professional environment, andin particular for uses in industry and in building.

Preferably, the surface for treatment is an inside surface, e.g. asurface inside a room, and the screen is configured to display arepresentation of at least a portion of the room in which the surfacefor treatment is to be found. In other words, the surroundings of thesurface for treatment then comprise the room in which the surface fortreatment is to be found.

Preferably, the surface for treatment is a surface of an object locatedin a room, and the screen is configured to display a representation ofat least a portion of the room in which the object is to be foundtogether with the object itself, which may also be shown. In otherwords, the surroundings of the surface for treatment then comprise theroom in which the object having the surface for treatment is to befound. The object for treatment may be included therein.

Alternatively, the surface for treatment is an outside surface, e.g. afacade portion of a building, and the screen is configured to display arepresentation of at least a portion of the facade of the building. Inother words, the surroundings of the surface for treatment then comprisethe facade surrounding or constituting the surface for treatment.

Preferably, the surface for treatment is the surface of one or morewalls or facades, of one or more ceilings, of one or more objects,and/or one or more arbitrary surfaces.

Preferably, the screen is configured to display a three-dimensionalrepresentation of at least a portion of the surroundings in which thesurface for treatment is to be found. The term “three-dimensionalrepresentation” is used to mean a representation in which the user canmove, the representation complying with the various proportions of thedisplayed elements, and in particular in perspective. Such athree-dimensional representation enables the user in particular tomodify the viewing angle from which the surroundings are displayed onthe screen, while still having a representation that maintains trueproportions. The user can thus move over the screen in the portion ofthe surroundings as though the user were genuinely there. This makes iteasier to visualize the various surfaces of the portion of thesurroundings, and where appropriate makes it easier to select them fortreatment.

Preferably, the interface is also configured to display, e.g.graphically or with text, information about the operation of theautomaton, e.g. its operating parameters or any anomalies. The interfacethen enables dialog between the automaton, which is to operate inautonomous manner, and the operator in charge of monitoring itsoperation. By indicating the operating parameters and anomalies, if any,it is ensured that the automaton operates as desired and it is possibleto anticipate potential future problems, if any (e.g. refilling withpaint).

In a first embodiment, the interface is configured to identify, in theportion of the surroundings that is displayed on the screen, at leastone determined surface that is surrounded by a closed outline. In thisfirst embodiment, the interface is capable of identifying the varioussurfaces represented on its screen. Thereafter, such an identificationmakes it possible in particular for the operator to select the surfacesfor treatment by selecting surfaces that are identified by theinterface.

Preferably, the interface is configured to enable a person: to selectthe surface for treatment by selecting, on the representation displayedon the screen, at least one determined surface surrounded by a closedoutline, and possibly to exclude at least a portion of said determinedsurface that is not to be treated by selecting, on the representationdisplayed on the screen, a determined portion surrounded by a closedoutline that is situated inside said determined surface. As mentionedabove, since the various surfaces of the zone for treatment areidentified by the interface, it then suffices for the operator to selectthe surfaces that are to be treated, and possibly also those that arenot to be treated, in order to enable the interface to have its workinginstructions. Furthermore, the interface can also specify on the screenwhich surfaces the operator has selected or excluded in order tofacilitate verification of the instructions given to the automaton.

In another embodiment, the interface is configured to enable a person:to select the surface for treatment by making at least one closedoutline on the representation displayed on the screen in order to definea defined surface, and optionally to exclude at least a portion of saiddefined surface that is not to be treated, by making a closed outline onthe representation displayed on the screen in order to define a definedportion situated inside said defined surface. In this embodiment, it isthe operator who selects surfaces for treatment by making the outline ofsaid surface for treatment. Nevertheless, the precision with whichsurfaces for treatment are selected may be limited by the way in whichthe outline is made, and this can require more time than the firstembodiment, in order to ensure that the boundaries indicated on theinterface do indeed correspond to the desired boundaries.

Preferably, the interface is configured to identify at least onesingularity in the portion of the surroundings displayed on the screen,e.g. one or more corners or one or more edges. The interface is alsoconfigured to modify the closed outline of at least one defined surfaceso as to make it correspond with one or more of said singularities.Under such circumstances, the interface adapts the outline made by theoperator so as to cause it to match with elements that the interface canidentify. In particular, when using a discrete geometrical model of thesurroundings, i.e. a model in the form of a set of points, the interfacecan then cause certain portions of the outline drawn by the operator tocorrespond with one or more singularities in the surroundings asdetermined from the discrete model.

Preferably, the screen of the interface is a touch screen and/or theinterface includes a manually operated pointing device, distinct fromthe screen, such as a mouse or a touch pad. These are various pointingmeans that can be used by the operator to select the outline or thedesired surface on the screen.

Preferably, the interface is also configured to enable a person toassociate the selected surface for treatment with one or more treatmentparameters. It is thus possible to associate various parameters withdifferent surfaces that have been identified separately. It is thenpossible to give unique instructions to the automaton, and allow it tocarry out the various different requested tasks on the various selectedsurfaces, even if the treatment parameters are not the same.

Preferably, the surface is selected by combining a plurality ofsubselections. More precisely, the work that can be carried out by theautomaton is not limited to one single continuous surface, but mayinclude various different surfaces that have been identified and thatare distinct from one another. Alternatively, the surface for treatmentmay be continuous, but it may be selected by adding and/or subtracting aplurality of subselections.

In a first embodiment, the screen is configured to display therepresentation of at least a portion of the surroundings in which thesurface for treatment is to be found on the basis of a file containing a3D model of said surroundings or from a digital file of the surroundingsin which the surface for treatment is to be found, the file being in twoor three dimensions. In this first embodiment, the interface uses a 3Dmodel of the surroundings in which the automaton is to work: inparticular it is possible for the interface to identify the varioussurfaces in said surroundings from the way they are modeled in the 3Dfile.

In another embodiment, the screen is configured to display therepresentation, in particular in three dimensions, of at least a portionof the surroundings in which the surface for treatment is to be found,on the basis of data obtained from the surroundings, e.g. received frommeans for scanning said surroundings such as a scanner or a 3D camera.Under such circumstances, the interface acts directly in thesurroundings where work is to take place to measure or register theinformation necessary for identifying a surface for treatment. Theinterface can thus scan the surroundings, or else can use a 3D or othercamera to represent, in particular in three dimensions, a portion of thesurroundings on its screen. The interface can also perform imageprocessing or can make use of information input by the operator(geometry, outlines, . . . ) in order to determine the various portionsof the surroundings. For example, the interface can determine theboundaries or other singularities between surfaces as a function oftheir brightness, of geometrical elements supplied by the operator, orof other information. Such an embodiment presents the advantage of beingdirectly operational on site and of not requiring prior modeling of thesurroundings.

Preferably, one of the facades of a building is the surface fortreatment.

Preferably, one of the objects of the surroundings is the surface fortreatment.

Preferably, one of the inside surfaces of a room is the surface fortreatment.

Preferably, the automaton is configured to move inside the room.

Preferably, the automaton is configured to move in the proximity of thefacade.

Preferably, the automaton is configured to move in the proximity of theobject.

Preferably, the automaton also comprises:

-   -   a base configured to move over the ground; and    -   a platform mounted on the base and configured to move, at least        in part, perpendicularly to the base, e.g. vertically;        the treatment means being mounted on the platform.

Such an automaton thus makes it possible to treat an extensive surfaceby moving horizontally by means of its base, and by moving vertically bymeans of its platform. An automaton is thus obtained that can work inautonomous manner without requiring continuous supervision by a person.This serves to reduce the time an operator needs to spend acting on theautomaton, and the operator can in turn perform treatment on the surfaceat the same time as the automaton, e.g. by performing tasks that requireparticular skills or know-how such as treating specific surfaces such asthe outlines of electricity outlets, behind pipes, staircases, . . . .

Preferably, the platform and the base remain stationary while thetreatment means are moved, and/or the treatment means remain stationarywhile the platform or the base is moving. The movements of the automatonare deliberately programmed to be performed separately from one another,in other words: either it is the platform and/or the base that moves, orelse it is the treatment means, but never both at the same time. Thismakes it easier for any people who might be working around the automatonto predict and anticipate its movements, so as to act accordingly.

Preferably, the treatment of a surface for treatment is painting saidsurface for treatment, sanding said surface for treatment, and/orspraying a plaster coating on said surface for treatment.

Preferably, the surface for treatment is an inside surface of abuilding. In particular, the surface for treatment may be an insidesurface of a house, of an apartment building, or of an office building.In this example, the treatment concerns surfaces that are normallytreated by operators, since they involve constraints concerning access(small size to pass through doorways or via the stairs in the building,maximum weight limited by the structure of the building), constraintsconcerning surface areas (surfaces inside a building are generallysmaller and easier for operators to access than outside surfaces), andconstraints concerning electrical power supply (no local electricalpower supply in a building while it is under construction) that normallylead to the treatment of the surfaces being given to operators toperform rather than to automatons.

Preferably, the surface for treatment may also be an outside surface ofa building. Thus, the surface for treatment may be a facade of abuilding, or indeed the surface of a terrace or a balcony.

In particular, the surface treatment may be treatment that is performedin industrialized and automated manner. Under such circumstances, thetreatment may comprise a step of searching for and/or identifying eachnew surface for treatment, prior to performing the treatment step. Thus,the automaton may be configured to identify a new surface for treatmenton a manufacturing line in which surfaces for treatment move intranslation past the automaton, or else it may be configured itself tomove through a static manufacturing line from one surface for treatmentto another. The surfaces for treatment may: either all be identical, orof shape known to the automaton and identifiable in a database ofsurfaces for treatment, or else of arbitrary shapes but ofcharacteristics (in particular outlines) that can be identified by theautomaton.

Preferably, the automaton is configured to pass through openings, and inparticular doors, in a building, such as a house, an apartment building,or an office building. For example, the automaton may present a heightthat is less than or equal to 2.5 meters (m), preferably less than orequal to 2 m. The automaton may also present a width that is less thanor equal to 2 m, preferably less than or equal to 1 m. The automaton mayalso present a length that is less than or equal to 4 m, preferably lessthan or equal to 2 m. Furthermore, the automaton may present a weightthat is less than or equal to 500 kilograms (kg), preferably less thanor equal to 250 kg. An automaton is thus obtained that is compact andthat can move inside a building: i.e. it can go through doors and canuse an elevator.

Furthermore, such characteristics concerning size and weight also enablethe automaton to be used in a wide variety of different surroundings,while still remaining operational, in particular because it is easy tohandle and it occupies little space.

Preferably, the automaton is configured to move outdoors, e.g. on publicways, such as sidewalks.

Alternatively, the automaton may be configured to move in industrialsurroundings such as a manufacturing line.

Preferably, the automaton also includes one or more sensors for locatingitself in three dimensions and relative to the surface for treatment,e.g. ultrasound sensors, laser sensors, travel time sensors, videosystems, or indeed sensors co-operating with beacons defining at least aportion of the surface for treatment. The purpose of the sensors is tofacilitate positioning of the automaton in its surroundings so as tofacilitate identifying surfaces for treatment and also so as to definesaid surfaces in three dimensions.

The automaton may thus include an optical locating system, e.g. one ormore cameras such as cameras positioned stereoscopically, enabling theautomaton to position itself in three dimensions in its surroundings.This ensures that the movements and operations performed by theautomaton are performed with precision.

Preferably, the automaton also includes presence sensors and isconfigured to limit, or even avoid, any contacts with potentialobstacles, e.g. with people. Such sensors serve in particular topreserve the physical integrity of people who might be working or whomight be located in the proximity of the automaton. Thus, by virtue ofthe various sensors, the automaton is configured to detect the presenceof such people and to act appropriately in order to avoid injuring themor impeding them. The automaton thus becomes cooperative, since it canassist people in their work, while performing its own work in theirproximity. The term “cooperative” is used of an automaton that iscapable of working in the proximity of individuals without requiring abarrier.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the disclosure and its advantages can be betterunderstood on reading the following detailed description of a particularembodiment given by way of non-limiting example and shown in theaccompanying drawings, in which:

FIG. 1 is a diagrammatic perspective view of an automaton of the presentdisclosure;

FIGS. 2 to 4 show a first method of selecting a surface via theinterface of the automaton of the present disclosure; and

FIGS. 5 and 6 show a second method of selecting a surface via theinterface of the automaton of the present disclosure.

DETAILED DESCRIPTION

FIG. 1 is a diagrammatic perspective view of an automaton according toembodiments of the present disclosure for treating a surface that is tobe treated. The automaton 1 thus comprises a base 2 that enables theautomaton to move over the ground and that comprises: movement means,specifically wheels 4 advantageously configured so as to avoid damagingthe ground, e.g. being made of or covered in a flexible material such asan elastic material, together with means for driving the wheels, e.g. amotor (not shown). The base 2 constitutes a chassis for the automaton 1and supports all of the elements of the automaton 1 as described below.

The automaton 1 also has a platform 6. The platform 6 is mounted on thebase 2, e.g. via two rails 8 that are mounted substantiallyperpendicularly on the base 2. The platform 6 is configured to movealong the rails 8, i.e. substantially perpendicularly to the base 2 byusing drive means (not shown), e.g. a motor. A platform 6 is thusobtained that is capable of moving vertically, for example, in order toreach various different heights of the surface to be treated.

The automaton 1 also has treatment means, specifically an arm 10. Thearm 10 is mounted on the platform 6 and comprises firstly a treatmentend 12 where a tool is mounted for treating the surface 14, specificallya paint spray nozzle 14, and secondly one or more hinges 16 connectingtogether one or more arm portions 18. The hinges 16 enable the treatmenttool 14 to be moved and steered as desired over all of a surface ofgiven area. The area depends in particular on the lengths of the armportions 18 and on the amplitudes of the hinges 16. Furthermore, the arm10 also enables the treatment tool 14 to be moved parallel to thesurface for treatment so as to obtain a uniform treatment result.

Finally, the automaton 1 includes a control unit 20. The control unit 20may be mounted on the base 2 of the automaton 1, or it may be situatedremotely at a distance therefrom, or indeed a portion of it may bemounted on the base 2 and a portion may be remote. The control unit 20serves to control the various means of the automaton 1, in particularthe means for driving the base 2, the platform 6, and the arm 10. Thecontrol signals are determined in particular by the control unit 20 as afunction of instructions and data communicated thereto.

More precisely, the electronic control unit 20 is configured to plantreatment of the surface for treatment, while taking account of thestructure of the automaton 1 and while facilitating the work ofindividuals in the proximity of the automaton 1.

Thus, the control unit 20 may for example be configured initially tosubdivide the surface for treatment into subdivisions of area that isless than or equal to a given area. In other words, the surface fortreatment is subdivided into portions that can be treated individuallysolely by movement of the arm, while the platform 6 and the base 2remain stationary. Thereafter, the control unit is configured to treatthe surface in each subdivision by controlling movements of the arm 10.Once the subdivision has been treated, the electronic control unit 20then causes the subdivision to be changed by moving the platform 6vertically and/or by driving the base 2 over the ground. Under suchcircumstances, the automaton 1 works by subdivisions or “cells”, eachsubdivision corresponding to a surface area that can be treated solelyby movements of the arm 10 of the automaton 1. Thereafter, the automaton1 moves from subdivision to subdivision, by moving the platform 6 and/orthe base 2.

The subdivisions may be obtained by splitting the surface for treatmentinto a regular rectangular grid with lines that correspond to movementsof the platform 6 and of the base 2, specifically vertical lines andhorizontal lines. Once the surface for treatment has been split up bythe control unit 20, it can then control the automaton 1 to treat saidvarious subdivisions in succession. Preferably, all of the subdivisionsthat correspond to the same position for the base 2, i.e. requiringmovements only of the arm 10 and of the platform 6 are treated insuccession. Thereafter, the base 2 is moved to another position in orderto treat in succession all of the corresponding subdivisions, and so on.This limits movements over the ground of the automaton 1, therebyfacilitating work of the automaton 1 when individuals are in itsproximity.

Within each subdivision, the treatment applied by the automaton 1 canlikewise be planned, in particular so as to achieve a rendering that isclose to that which would be provided by a professional. For example,when the treatment involves painting, the control unit 20 may beconfigured to begin the treatment at one edge or outline of the surfacefor treatment: such treatment is applied only when the subdivision inquestion is positioned at the edge of the surface for treatment and isnot relevant if the subdivision in question is entirely surrounded byother subdivisions. Such a method corresponds to “picking out”, atechnique which consists in beginning by working on the outlines of thesurface before working on its center.

Once the outline has been done, the control unit 20 can then control thearm 10 so as to treat the remainder of the area of the subdivision, i.e.the inside of the subdivision. To do this work, the control unit 20 mayin particular provide for moving the arm 10 within a horizontal orvertical grid, i.e. treating the inside of the subdivision by followingcertain lines of the outline of said subdivision (horizontal or verticaloutlines).

Likewise, when the subdivision includes a particular element, such as aswitch or an electricity outlet, the same technique can be used: thecontrol unit 20 may be configured to perform the treatment around theoutline of the particular element, prior to performing the treatmentbetween the particular element and the outline of the subdivision.

Once all of the subdivisions have been treated, the automaton 1 can thenstop. In the example described above, it should be observed that thesurface for treatment is a single surface. Nevertheless, the work of theautomaton 1 of the disclosure is not limited to such single surfaces,and it can treat a surface for treatment that comprises a plurality ofdistinct portions that are separated from one another. Under suchcircumstances, each portion of the surface for treatment is worked inthe manner described above, i.e. specifically it is subdivided intosubdivisions that are worked in succession. When a portion is finished,the control unit 20 controls the base 2 and/or the platform 6 so as tomove to another portion of the surface for treatment that has not beentreated.

In practice, such a movement may take place firstly by giving eachdistinct portion of the surface for treatment a specific workingreference frame used by the automaton 1 for treating said distinctportion of the surface, and secondly by positioning the various specificworking reference frames relative to one another in a single overallreference frame so as to enable the automaton 1 to move from onedistinct portion of the surface for treatment to another distinctportion of the surface for treatment. For example, the various portionsof the surface for treatment may be two walls of a room, e.g. twocontiguous walls that present an angle relative to each other, or indeedtwo parallel walls that are spaced apart and face each other. In eithersituation, on passing from one portion of the surface to another, theautomaton 1 is obliged to re-orient itself relative to the portion ofthe surface for treatment, prior to beginning treatment of said portionof the surface.

In order to select the surfaces for treatment by the automaton, itsinterface includes a screen 21 configured to display a portion of thesurroundings, i.e. the room, adjacent facades, or the object, on whichthe automaton is to work. Such a display is shown in particular in thevarious FIGS. 2 to 6.

FIGS. 2 to 4 show a first method of selecting a surface via theinterface. In this first method, it is considered that the interface isconfigured to identify the various surfaces displayed on its screen 21.It is also considered that the surface for treatment is an insidesurface of a room, and that the surroundings of the surface fortreatment comprise the room in which the surface for treatment is to befound.

Thus, FIG. 2 shows a portion of the room as displayed on the screen 21of the interface. By way of example, the portion of the room maycomprise three walls 22, a floor 24, a ceiling 26, and also a switch 30and a defined portion 32 of the wall, specifically a window, forexample. Each of these elements is defined by a closed outline known tothe interface, and thus constitutes a surface that is determined for theinterface.

The various determined surfaces are thus displayed on the screen 21 ofthe interface and can then be selected by the operator, e.g. by means ofa finger if the screen 21 is a touch screen, or else by using a pointingdevice.

FIG. 3 shows the display on the screen 21 after selecting a selecteddetermined surface, in particular the surface of the far wall 22. Sincethe closed outline of the far wall 22 also contains a switch 30 and thewall portion 32, all three determined surfaces are considered as beingselected by the interface.

Nevertheless, it is equally possible to exclude the treatment from thedetermined surface that corresponds to the switch 30 and from thedetermined surface that corresponds to the wall portion 32, byre-selecting these surfaces specifically after they have already beenselected beforehand. These two determined surfaces 30 and 32 are thenexcluded from the surface that is to be treated by the automaton (seeFIG. 4).

The surface(s) that is/are to be treated by the automaton 1 can thus beindicated quickly and easily on the interface.

FIGS. 5 and 6 show a second method of selecting a surface via theinterface. In this second method, it is considered that the interface isnot configured to identify the various surfaces displayed on its screen21.

In this second method, the portion of the room that is displayed on thescreen 21 of the interface may be the result of scanning the room with ascanner or a 3D camera. Alternatively, the portion of the room that isdisplayed may be a representation of the room obtained from a photographor as drawn directly by the operator, together with information input bythe operator, such as the dimensions or the shape of the variouselement(s) displayed on the screen.

FIG. 5 shows a room portion as displayed on the screen 21 of theinterface. The room portion may include in particular a wall 34 thatitself has a portion 36 that has been defined by an outline 38 visibleon the wall 34. The room portion displayed on the screen 21 may inparticular be obtained by a scanner or by photographing the room.

In order to select a surface for treatment, and in particular thesurface 36 as defined by the outline 38, the operator then traces aclosed outline 40 on the screen to define a defined surface 42. Sincethe outline 40 is traced by hand by the operator, it does not correspondexactly to the outline 38 of the surface 36 for treatment.

The interface can then modify the outline 40 of the defined surface 42so as to make it correspond with singularities displayed on the screen21, specifically with the outline 38. The selected surface is thenmodified so as to correspond to the surface 36, which is the surfacethat is to be treated by the automaton 1 (FIG. 6).

It is thus possible to indicate on the interface the surface(s) thatis/are to be treated by the automaton 1, without requiring any priormodeling of the room.

Whatever the method of selecting the surface for treatment, the controlunit 20 may also enable an operator to specify the tasks that are to beperformed together with their parameters, and also to take cognizance ofvarious status messages or warnings detected by the control unit 20.Thus, the control unit 20 may enable the operator to specify: treatmentparameters, e.g. concerning sanding (speed, force, . . . ) or painting(number of coats to be applied, type of paint, quantity of paint,pattern, interleaving of coats, overlapping two contiguous passes, . . .); the various zones of the surface for treatment, in particular whenthe treatment parameters are not to be uniform over the entire surfacefor treatment, but need to change in compliance with determined data.

In order to enable the automaton 1 to locate itself and move in threedimensions so as to treat the various surfaces, it may include sensors.The sensors may involve various different technologies depending on theamplitudes and/or the accuracies of the distances involved. Thus, theautomaton 1 may have two distance sensors, e.g. ultrasound sensors, thatare mounted in the treatment plane of the arm 10 and that serve todetermine firstly the distance between the surface for treatment and theautomaton 1, and secondly the angle between the axis of the automaton 1and the surface for treatment. By means of these sensors, it is thuspossible to ensure that the arm 10 does indeed perform the treatment atthe proper distance from the surface for treatment, and does so whilemoving parallel thereto.

Alternatively, when the treatment requires contact with the surface fortreatment, e.g. sanding, the distance to the surface for treatment andpossibly also the angle between the axis of the automaton 1 and thesurface for treatment, may be determined directly by the treatment tool,using internal resistance sensors that are used for monitoring the forcethat is applied to the surface for treatment.

The automaton 1 may also have travel time sensors, e.g. a laser sensor,for monitoring the position of the automaton 1 in its surroundings. Forthis purpose, beacons may also be positioned at various locations thatare identified by the automaton 1, so as to guarantee that it is indeedfacing the surface portion for treatment. Such sensors also make itpossible to ensure that the movements of the base 2 take place parallelto the surface for treatment, so that the junctions between the varioussubdivisions coincide.

Alternatively, in addition to the sensors or as a replacement for thesensors, it is also possible to provide one or more cameras enabling theautomaton 1 to locate its position in its surroundings in threedimensions. Thus, two cameras that are stereoscopically positioned canenable the control unit 20 to locate itself in three dimensions bydetermining the distance and the angle between the automaton 1 andsurfaces for treatment or surfaces defining the surroundings in which itmoves. This may also enable the automaton 1 to move from one surfaceportion for treatment to another, when these portions are distinct andseparate from each other, as described above.

Under all circumstances, a prior step of calibrating the initialposition of the automaton 1 in its surroundings may be necessary inorder to perform the locating and positioning steps while treating thesurface for treatment.

Finally, the automaton 1 may also have presence sensors serving toensure that the automaton 1 can work in the proximity of individualswithout colliding with them or injuring them. For example, the automaton1 may have optical sensors forming a barrier between the zone in whichthe automaton 1 moves and more particularly the zone in which theplatform 6 and the arm 10 moves, and the remainder of the surroundings.Thus, if an object is detected intruding into said movement zone,control of the platform 6 and of the arm 10 may be interrupted in orderto be certain to avoid injuring a person or to avoid damaging theautomaton 1. In addition, or in the alternative, the control unit 20 maymonitor the control of the various movement means of the automaton 1,e.g. involving the base 2 or the platform 6, in order to detect anobstruction, if any, to a movement control signal. Under suchcircumstances, the control signal may be interrupted, or even reversed,and the automaton 1 may wait on standby until a person has come toverify the reason for the obstruction. This ensures that the automaton 1can indeed move among individuals without running the risk of injuringthem.

Thus, by means of embodiments of the disclosure, it becomes possible touse an automaton to treat a surface for treatment while still enablingindividuals to act in the proximity of the automaton. In particular,inputting instructions identifying the surfaces for treatment is madeeasy by the specific interface of the automaton. The automaton can thusact as an assistant within a worksite, in particular in order to performthe most repetitive of tasks that do not require particular skills. Inparticular, it can perform painting treatments, e.g. by spraying paintonto the surface, or indeed sanding, e.g. by rotating abrasion meansover the surface for treatment, or indeed applying a plaster coating,e.g. by spraying.

Throughout the description, including the claims, the term “comprisinga” should be understood as being synonymous with “comprising at leastone” unless otherwise stated. In addition, any range set forth in thedescription, including the claims should be understood as including itsend value(s) unless otherwise stated. Specific values for describedelements should be understood to be within accepted manufacturing orindustry tolerances known to one of skill in the art, and any use of theterms “substantially” and/or “approximately” and/or “generally” shouldbe understood to mean falling within such accepted tolerances.

Notably, although some features, concepts or aspects of the inventionsmay be described herein as being a preferred or advantageous arrangementor method, such description is not intended to suggest that such featureis required or necessary unless expressly so stated.

1-12. (canceled)
 13. An automaton for treating a surface for treatment,the automaton comprising a treatment device having a movable endconfigured to treat a surface of walls, facades, ceilings, and/orobjects, and an interface configured to indicate to the automaton thesurface that is to be treated, wherein the interface comprises a screenconfigured to display a representation of at least a portion of thesurroundings in which the surface for treatment is to be found, on thebasis of data obtained from the surroundings or from a digital file ofthe surroundings in two or three dimensions, and wherein the interfaceis configured to enable a person to select the surface for treatment onthe representation displayed on the screen.
 14. The automaton accordingto claim 13, wherein the interface is also configured to displayinformation about the operation of the automaton.
 15. The automatonaccording to claim 13, wherein the interface is configured to identify,in the portion of the surroundings that is displayed on the screen, atleast one determined surface that is surrounded by a closed outline. 16.The automaton according to claim 13, wherein the interface is configuredto enable a person: to select the surface for treatment by selecting, onthe representation displayed on the screen, at least one determinedsurface surrounded by a closed outline, and possibly to exclude at leasta portion of said determined surface that is not to be treated byselecting, on the representation displayed on the screen, a determinedportion surrounded by a closed outline that is situated inside saiddetermined surface.
 17. The automaton according to claim 13, wherein theinterface is configured to enable a person: to select the surface fortreatment by making at least one closed outline on the representationdisplayed on the screen in order to define a defined surface, by makinga closed outline on the representation displayed on the screen in orderto define a defined portion situated inside said defined surface. 18.The automaton according to claim 17, wherein the interface is configuredto identify at least one singularity in the portion of the surroundingsdisplayed on the screen and wherein the interface is configured tomodify the closed outline of at least one defined surface so as to makeit correspond with one or more of said singularities.
 19. The automatonaccording to claim 13, wherein the screen of the interface is a touchscreen and/or wherein the interface includes a manually operatedpointing device, distinct from the screen.
 20. The automaton accordingto claim 13, wherein the screen is configured to display therepresentation of at least a portion of the surroundings in which thesurface for treatment is to be found on the basis of a file containing a3D model of said surroundings.
 21. The automaton according to claim 13,wherein the data obtained in the surroundings is received by scanningsaid surroundings.
 22. The automaton according to claim 13, furthercomprising: a base configured to move over the ground; and a platformmounted on the base and configured to move, at least in part,perpendicularly to the base; and wherein the treatment device aremounted on the platform.
 23. The automaton according to claim 13,further comprising presence sensors and configured to limit, or avoid,contact with potential obstacles.
 24. The automaton according to claim13, wherein the surface treatment comprises at least one of painting,sanding, and spraying a coating.
 25. The automaton according to claim13, wherein the screen is configured to display a three-dimensionalrepresentation of at least a portion of the surroundings in which thesurface for treatment is to be found, on the basis of data obtained fromthe surroundings or from a digital file of the surroundings in two orthree dimensions.
 26. The automaton according to claim 13, wherein theinterface is configured to display the operating parameters or anyanomalies of the automaton.
 27. The automaton according to claim 17,wherein the interface is configured to enable a person to exclude atleast a portion of said defined surface that is not to be treated bymaking a closed outline on the representation displayed on the screen inorder to define a defined portion situated inside said defined surface.28. The automaton according to claim 18, wherein the at least onesingularity in the portion of the surroundings displayed on the screenis one or more corners or one or more edges.
 29. The automaton accordingto claim 20, wherein the screen is configured to display therepresentation in three-dimensions of at least a portion of thesurroundings in which the surface for treatment is to be found on thebasis of a file containing a 3D model of said surroundings.